Relevant bibliographies by topics / Denavit-Hartenberg Representation

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  1. Journal articles
  2. Dissertations / Theses
  3. Conference papers

Academic literature on the topic 'Denavit-Hartenberg Representation'

Author: Grafiati
Published: 4 June 2021
Last updated: 12 February 2022

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Journal articles on the topic "Denavit-Hartenberg Representation"

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Abdel-Malek, K., and S. Othman. "Multiple sweeping using the Denavit–Hartenberg representation method." Computer-Aided Design 31, no. 9 (1999): 567–83. http://dx.doi.org/10.1016/s0010-4485(99)00053-6.

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Abdel-Malek, K., and S. Othman. "Erratum to: Multiple sweeping using the Denavit–Hartenberg representation method." Computer-Aided Design 31, no. 13 (1999): 855. http://dx.doi.org/10.1016/s0010-4485(99)00083-4.

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Jung, Seul. "A Tutorial on Unified Approach to Denavit-Hartenberg Representation of Kinematics of Mobile Manipulators in Robotics Education." Journal of Institute of Control, Robotics and Systems 27, no. 5 (2021): 364–72. http://dx.doi.org/10.5302/j.icros.2021.20.0204.

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Wiens, G. J., M. Y. Zarrugh, and R. A. Scott. "Effects of Geometric Parameters on Manipulator Dynamic Performance." Journal of Mechanical Design 114, no. 1 (1992): 137–42. http://dx.doi.org/10.1115/1.2916907.

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The sensitivity of the eigenvalues of a manipulator’s generalized inertia matrix with respect to the geometric parameters are used to form a set of indices as a measure of manipulator performance. The effects due to the geometric parameters and those due to purely mass characteristics of the manipulator’s links are separated by using the Denavit-Hartenberg representation and expressing each link’s local ineratia tensor in terms of principal moments about its center of mass. A global measure of the indices is defined and correlated with quantities such as workspace volume and reach.
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Reza Elhami, Mohammad, and Iman Dashti. "A New Approach to the Solution of Robot Kinematics Based on Relative Transformation Matrices." IAES International Journal of Robotics and Automation (IJRA) 5, no. 3 (2016): 213. http://dx.doi.org/10.11591/ijra.v5i3.pp213-222.

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In analyzing robot manipulator kinematics, we need to describe relative movement of adjacent linkages or joints in order to obtain the pose of end effector (both position and orientation) in reference coordinate frame. Denavit-Hartenberg established a method based on a 4×4 homogenous matrix so called “A” matrix. This method used by most of the authors for kinematics and dynamic analysis of the robot manipulators. Although it has many advantages, however, finding the elements of this matrix and link/joint’s parameters is sometimes complicated and confusing. By considering these difficulties, th
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Yang, Jingzhou, and Karim Abdel-Malek. "Singularities of manipulators with non-unilateral constraints." Robotica 23, no. 5 (2005): 543–53. http://dx.doi.org/10.1017/s0263574704001262.

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An analytical method is presented to obtain all surfaces enveloping the workspace of a general n degree-of-freedom mechanism with non-unilateral constraints. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation method for serial kinematic chains or its modification for closed-loop kinematic chains. The method developed is based upon analytical criteria for determining singular behavior of the mechanism. Singularities of manipulators with non-unilateral constraints have never been reported. The complete mathematical formulation is presente
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Okamura, Koichiro, and F. C. Park. "Kinematic calibration using the product of exponentials formula." Robotica 14, no. 4 (1996): 415–21. http://dx.doi.org/10.1017/s0263574700019810.

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SUMMARYWe present a method for kinematic calibration of open chain mechanisms based on the product of exponentials (POE) formula. The POE formula represents the forward kinematics of an open chain as a product of matrix exponentials, and is based on a modern geometric interpretation of classical screw theory. Unlike the kinematic representations based on the Denavit- Hartenberg (D-H) parameters, the kinematic parameters in the POE formula vary smoothly with changes in the joint axes, ad hoc methods designed to address the inherent singularities in the D-H parameters are therefore unnecessary.
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Li, Jie, Lian-Dong Yu, Jing-Qi Sun, and Hao-Jie Xia. "A Kinematic Model for Parallel-Joint Coordinate Measuring Machine." Journal of Mechanisms and Robotics 5, no. 4 (2013). http://dx.doi.org/10.1115/1.4025121.

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The typical nonorthogonal coordinate measuring machine is the portable coordinate measuring machine (PCMM), which is widely applied in manufacturing. In order to improve the measurement accuracy of PCMM, structural designing, data processing, mathematical modeling, and identification of parameters of PCMM, which are essential for the measurement accuracy, should be taken into account during the machine development. In this paper, a kind of PCMM used for detecting the crucial dimension of automobile chassis has been studied and calibrated. The Denavit–Hartenberg (D–H) kinematic modeling method
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Dissertations / Theses on the topic "Denavit-Hartenberg Representation"

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Li, Shi. "Dynamic optimization of an N degree-of-freedom robot system." Ohio : Ohio University, 1996. http://www.ohiolink.edu/etd/view.cgi?ohiou1178218770.

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Conference papers on the topic "Denavit-Hartenberg Representation"

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Jung, Seul, Yeong-geol Bae, JeongHyeong Lee, Hyungjik Lee, and Hyun Wook Kim. "A Unified Approach of Denavit-Hartenberg Representation to Kinematics Equations of Two-wheel Mobile Robots for Undergraduate Robotics Education." In 2020 20th International Conference on Control, Automation and Systems (ICCAS). IEEE, 2020. http://dx.doi.org/10.23919/iccas50221.2020.9268301.

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Urbanic, R. J., and A. Gudla. "Functional Work Space Estimation of a Robot Using Forward Kinematics, D-H Parameters, and Shape Analyses." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-83001.

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The functional work space for a given orientation is a subset of the work envelope and is not intuitive to define for 6 axis industrial robots. A 2D boundary curve is derived for each desired end effector orientation and tool vector. This is done via a geometric analysis and using the Denavit-Hartenberg notation for the forward kinematic representation. The feasible region for all orientations is determined by the use of Boolean intersections. Disjoint regions may occur. Assessing these elements establishes the boundary limits for subsequent evaluation and optimization tasks. An ABB IRB 140 ro
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Moon, Sang-Ku, Yong-Mo Moon, Sridhar Kota, and Robert G. Landers. "Screw Theory Based Metrology for Design and Error Compensation of Machine Tools." In ASME 2001 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/detc2001/dac-21083.

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Abstract The paper presents a generalized mathematical framework for computation and compensation of tool tip errors in multi-axis machine tools using screw theory. In contrast to conventional Denavit–Hartenberg notation, Screw theory offers several advantages including: (i) modeling of complex machine tool configurations with rotational axes, (ii) tractability of error propagation which simplifies solution of inverse kinematics and subsequent error-compensation procedures, and (iii) functional representation of error screws in a global reference frame rather than cumbersome coordinate transfo
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Kim, Joo H., Jingzhou Yang, and Karim Abdel-Malek. "A New Method for Determining Joint Constraint Forces and Moments During Optimal Dynamic Motion of Redundant Manipulators." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35677.

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The kinematic representations of general open-loop chains in many robotic applications are based on the Denavit-Hartenberg (DH) notation. However, when the DH representation is used for kinematic modeling, the relative joint constraints cannot be described explicitly using the common formulation methods. In this paper, we propose a new formulation of solving a system of differential-algebraic equations (DAEs) where the method of Lagrange multipliers is incorporated into the optimization problem for optimal motion planning of redundant systems. In particular, a set of fictitious joints is model
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Arefeen, Asif, and Yujiang Xiang. "Two-Dimensional Team Lifting Prediction With Different Box Weights." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22115.

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Abstract A novel multibody dynamics modeling method is proposed for two-dimensional (2D) team lifting prediction. The box itself is modeled as a floating-base rigid body in Denavit-Hartenberg representation. The interactions between humans and box are modeled as a set of grasping forces which are treated as unknowns (design variables) in the optimization formulation. An inverse-dynamics-based optimization method is used to simulate the team lifting motion where the dynamic effort of two humans is minimized subjected to physical and task-based constraints. The design variables are control point
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Abdel-Malek, Karim, and Harn-Jou Yeh. "Workspace of Four-Degree-of-Freedom Manipulators." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/mech-1170.

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Abstract An analytical method is presented to obtain all boundary surfaces to the accessible output set of four degree-of-freedom serial manipulators. The method is applicable to all manipulators that comprise combinations of prismatic and revolute joints. Position constraints of the end-effector of such mechanisms are formulated using the Denavit-Hartenberg representation. Examining the Jacobian of the underlying mechanism using a row-rank deficiency method yields sets of first-order singularities. These sets of singularities are substituted into the position constraint equations yielding par
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7

Yang, Jingzhou, and Karim Abdel-Malek. "Workspace Analysis and Visualization of Mechanical Manipulators With Non-Unilateral Constraints." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84180.

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An analytical method is presented to obtain all surfaces enveloping the workspace of a general n degree-of-freedom mechanism with non-unilateral constraints. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation method for serial manipulators. The method introduced in this paper is based upon analytical criteria for determining singular behavior of the mechanism. A perturbation approach is implemented to determine the interior and exterior of the workspace. The complete mathematical formulation is presented and illustrated using 3 and 4 DO
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